🔷Pixel Coordinates to Point Cloud Coordinates

Function Description

This operator converts input pixel coordinates (2D points on the image) and their corresponding depth values (Z values in the camera coordinate system) into 3D point coordinates (X, Y, Z) in the camera coordinate system, based on the camera intrinsic matrix and distortion coefficients obtained from camera calibration.

Usage Scenarios

Image Conversion: Convert pixel coordinates obtained from 2D image processing into precise 3D spatial coordinates.

Input Output

Input

Pixel point list: An N x 3 array or list, where each row represents information of one point in the format [pixel X coordinate, pixel Y coordinate, Z value of this point in camera coordinate system].

Camera intrinsic parameters: A 3x3 camera intrinsic matrix, typically in the format: , where fx, fy are focal lengths, and cx, cy are principal point coordinates.

Camera distortion: A list containing camera distortion coefficients, typically including 5 coefficients (k1, k2, p1, p2, k3).

Output

Camera coordinate system point cloud points: The resulting N x 3 array or list after conversion, where each row represents the 3D coordinates [X, Y, Z] of a point in the camera coordinate system.